US 11,654,558 B2
Robotic system with piece-loss management mechanism
Rosen Nikolaev Diankov, Tokyo (JP); Huan Liu, Tokyo (JP); and Denys Kanunikov, Tokyo (JP)
Assigned to MUJIN, Inc., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on Aug. 12, 2020, as Appl. No. 16/992,081.
Application 16/992,081 is a continuation of application No. 16/600,367, filed on Oct. 11, 2019, granted, now 10,773,385.
Application 16/600,367 is a continuation of application No. 16/414,396, filed on May 16, 2019, granted, now 10,532,462, issued on Jan. 14, 2020.
Application 16/414,396 is a continuation of application No. 16/252,383, filed on Jan. 18, 2019, granted, now 10,335,947, issued on Jul. 2, 2019.
Prior Publication US 2020/0368905 A1, Nov. 26, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 15/00 (2006.01); B65G 61/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1674 (2013.01); B25J 9/1687 (2013.01); B25J 15/0004 (2013.01); B25J 15/0019 (2013.01); B65G 61/00 (2013.01); G05B 2219/39107 (2013.01); G05B 2219/45063 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for operating a robotic system, the method comprising:
obtaining a base motion plan configured to operate a robotic assembly to transfer a target object from a start location to a task location;
receiving a contact measure after implementing an initial portion of the base motion plan, wherein the contact measure represents a force, a torque, and/or a pressure measured by a contact sensor;
determining whether the contact measure fails to satisfy a threshold; and
selectively generating a set of commands and/or settings based on the determination, wherein the set is different than a remaining portion of the base motion plan.
 
14. A tangible, non-transient computer-readable medium having processor instructions stored thereon that, when executed by a robotic system via one or more processors thereof, cause the robotic system to perform a method, the method comprising:
obtaining a base motion plan configured to operate a robotic assembly to transfer a target object from a start location to a task location;
receiving a contact measure after implementing an initial portion of the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and
selectively generating a set of commands and/or settings based on the contact measure for operating the robotic assembly to execute one or more response actions that deviate from a remaining portion of the base motion plan.
 
15. A robotic system, comprising:
at least one processor; and
at least one memory device connected to the at least one processor and having stored thereon instructions executable by the processor for:
obtaining a base motion plan configured to operate a robotic assembly to transfer the target object from a start location to a task location;
receiving a contact measure after implementing an initial portion the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object measured by a contact sensor;
determining whether the contact measure fails to satisfy a threshold; and
selectively generating a set of commands and/or settings based on the determination for operating the robotic assembly to deviate from a remaining portion of the base motion plan.